From cc0301784156543c7c9bec36b6f42df1d2adba28 Mon Sep 17 00:00:00 2001 From: "Matthias P. Braendli" Date: Sat, 29 Jun 2019 18:48:05 +0200 Subject: Change common/ folder structure --- src/common/includes/GPS/gps.h | 46 ------- src/common/includes/GPS/minmea.h | 252 --------------------------------------- 2 files changed, 298 deletions(-) delete mode 100644 src/common/includes/GPS/gps.h delete mode 100644 src/common/includes/GPS/minmea.h (limited to 'src/common/includes/GPS') diff --git a/src/common/includes/GPS/gps.h b/src/common/includes/GPS/gps.h deleted file mode 100644 index 8a2118f..0000000 --- a/src/common/includes/GPS/gps.h +++ /dev/null @@ -1,46 +0,0 @@ -/* - * The MIT License (MIT) - * - * Copyright (c) 2016 Matthias P. Braendli - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in all - * copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE - * SOFTWARE. -*/ - -#pragma once - -#include -#include - -/* Setup GPS receiver over USART and parse time */ - -/* USART connections: - * board TX to GPS RX on PD8 - * board RX to GPS TX on PD9 - */ - -// Setup communication and GPS receiver -void gps_init(void); - -// Return 1 of the GPS is receiving time -int gps_locked(void); - -// Get current time from GPS and number of satellite vehicles -// used for fix. -// Returns 1 if data is valid, 0 otherwise -int gps_utctime(struct tm *timeutc, int *num_sv_used); diff --git a/src/common/includes/GPS/minmea.h b/src/common/includes/GPS/minmea.h deleted file mode 100644 index ab770a6..0000000 --- a/src/common/includes/GPS/minmea.h +++ /dev/null @@ -1,252 +0,0 @@ -/* - * Copyright © 2014 Kosma Moczek - * This program is free software. It comes without any warranty, to the extent - * permitted by applicable law. You can redistribute it and/or modify it under - * the terms of the Do What The Fuck You Want To Public License, Version 2, as - * published by Sam Hocevar. See the COPYING file for more details. - */ - -#ifndef MINMEA_H -#define MINMEA_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include -#include -#include -#include -#include - -#define MINMEA_MAX_LENGTH 80 - -enum minmea_sentence_id { - MINMEA_INVALID = -1, - MINMEA_UNKNOWN = 0, - MINMEA_SENTENCE_RMC, - MINMEA_SENTENCE_GGA, - MINMEA_SENTENCE_GSA, - MINMEA_SENTENCE_GLL, - MINMEA_SENTENCE_GST, - MINMEA_SENTENCE_GSV, - MINMEA_SENTENCE_TXT, -}; - -struct minmea_float { - int_least32_t value; - int_least32_t scale; -}; - -struct minmea_date { - int day; - int month; - int year; -}; - -struct minmea_time { - int hours; - int minutes; - int seconds; - int microseconds; -}; - -struct minmea_sentence_rmc { - struct minmea_time time; - bool valid; - struct minmea_float latitude; - struct minmea_float longitude; - struct minmea_float speed; - struct minmea_float course; - struct minmea_date date; - struct minmea_float variation; -}; - -struct minmea_sentence_gga { - struct minmea_time time; - struct minmea_float latitude; - struct minmea_float longitude; - int fix_quality; - int satellites_tracked; - struct minmea_float hdop; - struct minmea_float altitude; char altitude_units; - struct minmea_float height; char height_units; - int dgps_age; -}; - -enum minmea_gll_status { - MINMEA_GLL_STATUS_DATA_VALID = 'A', - MINMEA_GLL_STATUS_DATA_NOT_VALID = 'V', -}; - -enum minmea_gll_mode { - MINMEA_GLL_MODE_AUTONOMOUS = 'A', - MINMEA_GLL_MODE_DPGS = 'D', - MINMEA_GLL_MODE_DR = 'E', -}; - -struct minmea_sentence_gll { - struct minmea_float latitude; - struct minmea_float longitude; - struct minmea_time time; - char status; - char mode; -}; - -struct minmea_sentence_gst { - struct minmea_time time; - struct minmea_float rms_deviation; - struct minmea_float semi_major_deviation; - struct minmea_float semi_minor_deviation; - struct minmea_float semi_major_orientation; - struct minmea_float latitude_error_deviation; - struct minmea_float longitude_error_deviation; - struct minmea_float altitude_error_deviation; -}; - -enum minmea_gsa_mode { - MINMEA_GPGSA_MODE_AUTO = 'A', - MINMEA_GPGSA_MODE_FORCED = 'M', -}; - -enum minmea_gsa_fix_type { - MINMEA_GPGSA_FIX_NONE = 1, - MINMEA_GPGSA_FIX_2D = 2, - MINMEA_GPGSA_FIX_3D = 3, -}; - -struct minmea_sentence_gsa { - char mode; - int fix_type; - int sats[12]; - struct minmea_float pdop; - struct minmea_float hdop; - struct minmea_float vdop; -}; - -struct minmea_sat_info { - int nr; - int elevation; - int azimuth; - int snr; -}; - -struct minmea_sentence_gsv { - int total_msgs; - int msg_nr; - int total_sats; - struct minmea_sat_info sats[4]; -}; - -enum minmea_txt_msgtype { - MINMEA_GPTXT_ERROR = 0, - MINMEA_GPTXT_WARNING = 1, - MINMEA_GPTXT_NOTICE = 2 -}; - -#define MINMEA_TXT_START_IX 16 - -struct minmea_sentence_txt { - int num_msg; - int msg_num; - enum minmea_txt_msgtype msgtype; - const char* text; - int text_len; -}; - -/** - * Calculate raw sentence checksum. Does not check sentence integrity. - */ -uint8_t minmea_checksum(const char *sentence); - -/** - * Check sentence validity and checksum. Returns true for valid sentences. - */ -bool minmea_check(const char *sentence, bool strict); - -/** - * Determine talker identifier. - */ -bool minmea_talker_id(char talker[3], const char *sentence); - -/** - * Determine sentence identifier. - */ -enum minmea_sentence_id minmea_sentence_id(const char *sentence, bool strict); - -/** - * Scanf-like processor for NMEA sentences. Supports the following formats: - * c - single character (char *) - * d - direction, returned as 1/-1, default 0 (int *) - * f - fractional, returned as value + scale (int *, int *) - * i - decimal, default zero (int *) - * s - string (char *) - * t - talker identifier and type (char *) - * T - date/time stamp (int *, int *, int *) - * Returns true on success. See library source code for details. - */ -bool minmea_scan(const char *sentence, const char *format, ...); - -/* - * Parse a specific type of sentence. Return true on success. - */ -bool minmea_parse_rmc(struct minmea_sentence_rmc *frame, const char *sentence); -bool minmea_parse_gga(struct minmea_sentence_gga *frame, const char *sentence); -bool minmea_parse_gsa(struct minmea_sentence_gsa *frame, const char *sentence); -bool minmea_parse_gll(struct minmea_sentence_gll *frame, const char *sentence); -bool minmea_parse_gst(struct minmea_sentence_gst *frame, const char *sentence); -bool minmea_parse_gsv(struct minmea_sentence_gsv *frame, const char *sentence); -bool minmea_parse_txt(struct minmea_sentence_txt *frame, const char *sentence); - -/** - * Convert GPS UTC date/time representation to a UNIX timestamp. - */ -int minmea_gettime(struct timespec *ts, const struct minmea_date *date, const struct minmea_time *time_); - -/** - * Rescale a fixed-point value to a different scale. Rounds towards zero. - */ -static inline int_least32_t minmea_rescale(struct minmea_float *f, int_least32_t new_scale) -{ - if (f->scale == 0) - return 0; - if (f->scale == new_scale) - return f->value; - if (f->scale > new_scale) - return (f->value + ((f->value > 0) - (f->value < 0)) * f->scale/new_scale/2) / (f->scale/new_scale); - else - return f->value * (new_scale/f->scale); -} - -/** - * Convert a fixed-point value to a floating-point value. - * Returns NaN for "unknown" values. - */ -static inline float minmea_tofloat(struct minmea_float *f) -{ - if (f->scale == 0) - return NAN; - return (float) f->value / (float) f->scale; -} - -/** - * Convert a raw coordinate to a floating point DD.DDD... value. - * Returns NaN for "unknown" values. - */ -static inline float minmea_tocoord(struct minmea_float *f) -{ - if (f->scale == 0) - return NAN; - int_least32_t degrees = f->value / (f->scale * 100); - int_least32_t minutes = f->value % (f->scale * 100); - return (float) degrees + (float) minutes / (60 * f->scale); -} - -#ifdef __cplusplus -} -#endif - -#endif /* MINMEA_H */ - -/* vim: set ts=4 sw=4 et: */ -- cgit v1.2.3